--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/drivers/ec_master.h	Fri Oct 21 11:21:42 2005 +0000
@@ -0,0 +1,134 @@
+/****************************************************************
+ *
+ *  e c _ m a s t e r . h
+ *
+ *  Struktur für einen EtherCAT-Master.
+ *
+ *  $Date$
+ *  $Author$
+ *
+ ***************************************************************/
+
+#ifndef _EC_MASTER_H_
+#define _EC_MASTER_H_
+
+#include "ec_device.h"
+#include "ec_slave.h"
+#include "ec_command.h"
+
+/***************************************************************/
+
+/**
+   EtherCAT-Master
+
+   Verwaltet die EtherCAT-Slaves und kommuniziert mit
+   dem zugewiesenen EtherCAT-Gerät.
+*/
+
+typedef struct
+{
+  EtherCAT_slave_t *slaves; /**< Zeiger auf statischen Speicher
+                               mit Slave-Informationen */
+  unsigned int slave_count; /**< Anzahl der Slaves in slaves */
+
+  EtherCAT_command_t *first_command; /**< Zeiger auf das erste
+                                        Kommando in der Liste */
+  EtherCAT_command_t *process_data_command; /**< Zeiger Auf das Kommando
+                                               zum Senden und Empfangen
+                                               der Prozessdaten */
+
+  EtherCAT_device_t *dev; /**< Zeiger auf das zugewiesene EtherCAT-Gerät */
+
+  unsigned char command_index; /**< Aktueller Kommando-Index */
+
+  unsigned char tx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statischer Speicher
+                                                    für zu sendende Daten */
+  unsigned int tx_data_length; /**< Länge der Daten im Sendespeicher */
+  unsigned char rx_data[ECAT_FRAME_BUFFER_SIZE]; /**< Statische Speicher für
+                                                    eine Kopie des Rx-Buffers
+                                                    im EtherCAT-Gerät */
+
+  unsigned char *process_data; /**< Zeiger auf Speicher mit Prozessdaten */
+  unsigned int process_data_length; /**< Länge der Prozessdaten */
+
+  EtherCAT_command_t cmd_ring[ECAT_COMMAND_RING_SIZE]; /** Statischer Kommandoring */
+  unsigned int cmd_ring_index; /**< Index des nächsten Kommandos im Ring */
+}
+EtherCAT_master_t;
+
+/***************************************************************/
+
+// Master creation and deletion
+int EtherCAT_master_init(EtherCAT_master_t *, EtherCAT_device_t *);
+void EtherCAT_master_clear(EtherCAT_master_t *);
+
+// Slave management
+int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);
+void EtherCAT_clear_slaves(EtherCAT_master_t *);
+int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
+int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);
+int EtherCAT_activate_all_slaves(EtherCAT_master_t *);
+int EtherCAT_deactivate_all_slaves(EtherCAT_master_t *);
+
+// Sending and receiving
+int EtherCAT_async_send_receive(EtherCAT_master_t *);
+int EtherCAT_send(EtherCAT_master_t *);
+int EtherCAT_receive(EtherCAT_master_t *);
+int EtherCAT_write_process_data(EtherCAT_master_t *);
+int EtherCAT_read_process_data(EtherCAT_master_t *);
+
+/***************************************************************/
+
+// Slave information interface
+int EtherCAT_read_slave_information(EtherCAT_master_t *,
+                                    unsigned short int,
+                                    unsigned short int,
+                                    unsigned int *);
+
+// EtherCAT commands
+EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,
+                                  unsigned short,
+                                  unsigned short,
+                                  unsigned int);
+EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,
+                                   unsigned short,
+                                   unsigned short,
+                                   unsigned int,
+                                   const unsigned char *);
+EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,
+                                           short,
+                                           unsigned short,
+                                           unsigned int);
+EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,
+                                            short,
+                                            unsigned short,
+                                            unsigned int,
+                                            const unsigned char *);
+EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,
+                                            unsigned short,
+                                            unsigned int);
+EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,
+                                             unsigned short,
+                                             unsigned int,
+                                             const unsigned char *);
+EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,
+                                                unsigned int,
+                                                unsigned int,
+                                                unsigned char *);
+
+void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);
+
+// Slave states
+int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);
+
+/***************************************************************/
+
+// Private functions
+EtherCAT_command_t *alloc_cmd(EtherCAT_master_t *);
+void add_command(EtherCAT_master_t *, EtherCAT_command_t *);
+void set_byte(unsigned char *, unsigned int, unsigned char);
+void set_word(unsigned char *, unsigned int, unsigned int);
+
+/***************************************************************/
+
+#endif